Float for connection to a swimmer in a wave powered vehicle

ABSTRACT

A float ( 1 ) suitable for use as a buoy or as a component for a wave-powered vehicle. The float ( 1 ) includes an upper member ( 12 ) whose height can be changed and/or which remained substantially vertical even when the float is in wave-bearing water. A low drag cable ( 2 ) suitable for use as a tether in a wave-powered vehicle has a streamlined cross-section and includes a tensile member ( 21 ) near the front of the cross-section, at least one non-load-bearing member ( 22 ) behind the tensile member, and a polymeric jacket ( 23 ). Wave-powered vehicles having a float ( 1 ), a submerged swimmer ( 3 ) and a tether ( 2 ) connecting the float and the swimmer, include a means for determining whether the tether is twisted; or a means ( 91 ) for untwisting the tether; or a pressure-sensitive connection ( 71, 72, 73 ) which can disconnect the tether when the vehicle is dragged downwards by entanglement with a whale; or a 2-axis universal joint securing the tether to the float or to the swimmer; or elastic elements which absorb snap loads created by the tether; or two or more of these.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. patent application Ser. No. 15/785,246, entitled “Cable for Connecting a Float to a Swimmer in a Wave Powered Vehicle,” by Roger G. Hine et al, filed Oct. 16, 2017, which application is a continuation of U.S. patent application Ser. No. 14/172,860, entitled “Wave Power,” by Roger G. Hine et al, filed Feb. 4, 2014, now U.S. Pat. No. 9,789,944, which application is a continuation of U.S. patent application Ser. No. 12/449,753, filed Mar. 9, 2010 for entitled “Wave Power,” (inventors by Roger G. Hine, Derek L. Hine, Kurt A. F. Kiesow, William A. Stutz, and Graham Hine, filed Mar. 9, 2010 and now issued as U.S. Pat. No. 8,6868,534, which is a U.S. national phase entry lodged Feb. 29, 2008, under 35 U.S.C. § 371 based on PCT Application No. PCT/US2008/002743, which claims priority from U.S. Provisional Patent Application No. 60/904,647, filed Mar. 2, 2007 for “Water Vehicle,” inventors by Roger G. Hine, Derek L. Hine, Kurt A. F. Kiesow, William A. Stutz, and Graham Hine, all of which applications are hereby incorporated by reference herein.

This application is related to U.S. patent application Ser. No. 12/087,961, filed Feb. 2, 2009 for “Wave Power” (inventors Roger G. Hine, Derek L. Hine, Joseph D. Rizzi, Kurt A. F. Kiesow, Robert Burcham, and William A. Stutz), now U.S. Pat. No. 8,043,133, which is a national phase entry lodged Jul. 18, 2008, under 35 U.S.C. § 371 based on PCT Patent Application No. PCT/US2007/001139, filed Jan. 18, 2007 for “Wave Power” (inventors Roger G. Hine, Joseph D. Rizzi, Kurt A. F. Kiesow, Robert Burcham, and William A. Stutz).

PCT Patent Application No. PCT/US2007/001139 claims priority from the following U.S. patent applications:

-   -   U.S. Provisional Patent Application No. 60/841,834, filed Sep.         1, 2006 for “Water Vehicle”;     -   U.S. patent application Ser. No. 11/436,447, filed May 18, 2006         for “Wave Power,” now U.S. Pat. No. 7,371,136, which claims         priority from U.S. Provisional Patent Application No.         60/760,893, filed Jan. 20, 2006; and     -   U.S. Provisional Patent Application No. 60/760,893, filed Jan.         20, 2006 for “Wave Power.”

The entire disclosures of all the above mentioned applications are hereby incorporated by reference for all purposes.

BACKGROUND OF THE INVENTION

This invention relates to devices which are subject to waves in the water, and which in some cases utilize the power of waves in water.

As a wave travels along the surface of water, it produces vertical motion, but no net horizontal motion, of water. The amplitude of the vertical motion decreases logarithmically with depth; at a depth of about half the wave length, there is little vertical motion. The speed of currents induced by wind also decreases sharply with depth. A number of proposals have been made to utilize wave power to do useful work. Reference may be made, for example, to U.S. Pat. Nos. 986,627, 1,315,267, 2,520,804, 3,312,186, 3,453,981, 3,508,516, 3,845,733, 3,872,819, 3,928,967, 4,332,571, 4,371,347, 4,389,843, 4,598,547, 4,684,350, 4,842,560, 4,968,273, 5,084,630, 5,577,942, 6,099,368 and 6,561,856, U.S. Patent Publication Nos. 2003/0220027 and 2004/0102107, and International Publication Nos. WO 94/10029 and WO 87/04401. The entire disclosure of each of those patents and publications is incorporated herein by reference for all purposes.

SUMMARY OF THE INVENTION

This invention relates to devices which are subject to waves in the water, including but not limited to devices which utilize the power of waves in water, for example water vehicles which travel over the surface of the water when placed in wave-bearing water (i.e., water having waves moving across its surface). Such vehicles can for example comprise (1) a float, (2) a swimmer, and (3) a tether connecting the float and the swimmer; the float, swimmer and tether being such that, when the vehicle is in still water, (i) the float is on or near the surface of the water, (ii) the swimmer is submerged below the float, and (iii) the tether is under tension; and the swimmer, when the vehicle is in wave-bearing water, interacting with the water to generate forces which tend to move the float in a direction having a horizontal component (hereinafter referred to simply as “in a horizontal direction” or “horizontally”). In the interest of brevity, this specification refers to a water vehicle comprising a float, a swimmer and a tether as described in the previous sentence as a WPV. Preferred WPVs are described in the related applications incorporated by reference.

Summary of a First Preferred Aspect of the Invention

In a first preferred aspect, this invention provides a float which will float in water and which comprises (1) a body, (2) an upper member which is secured to the body and extends upwards from the body, and (3) means for controlling at least one of (a) the orientation of the upper member relative to the body and (b) the configuration of the upper member.

In a first embodiment of the float, (a) when the float is floating in still water, the upper member has a rest orientation relative to the water, and (b) when the float is floating in wave-bearing water, said means reduces (including substantially prevents) movement of the upper member away from the rest orientation.

In a second embodiment of the float (which can, but does not necessarily, have the features of first embodiment) the upper member has a height which can be changed (for example comprises components which can telescope into each other, and/or comprises one or more components which can fold and unfold).

Summary of the Second Preferred Aspect of the Invention

In a second preferred aspect, this invention provides a cable which

-   -   (a) has a cross-section which (i) has a chord length which is         0.5 to 3.0 inch, and (ii) comprises a leading edge portion and a         tapered trailing edge portion, the leading edge portion         including the part of the cross-section which has the greatest         width, the greatest width being 0.1 to 1.0 inch and at most 0.5         times the chord length of the cross-section, and     -   (b) comprises (1) an elongate tensile member which carries load         when the cable is under tension and which preferably passes         through the leading edge portion of the cable, and         -   (2) at least one additional elongate member which does not             carry load when the cable is under tension, and (3) a jacket             which provides the outer surface of the cable.

Summary of a Third Preferred Aspect of the Invention

In a third preferred aspect, this invention provides a WPV which comprises means for determining whether the tether is twisted.

Summary of a Fourth Preferred Aspect of the Invention

In a fourth preferred aspect, this invention provides a WPV which comprises means for untwisting the tether when the tether is twisted.

Summary of a Fifth Preferred Aspect of the Invention

In a fifth preferred aspect, this invention provides a WPV which comprises a pressure-sensitive connection which causes the tether to separate from float and/or from the swimmer, and/or causes the tether to break, when the water pressure substantially exceeds the water pressure under normal conditions of use. In this way, if the WPV becomes entangled with a whale or other sea creature, the WPV will be disentangled when the creature dives.

Summary of a Sixth Preferred Aspect of the Invention

In a sixth preferred aspect, this invention provides a WPV in which the tether is secured to the float and/or to the swimmer through a two-axis universal joint which pivots when the float/swimmer pitches or rolls but does not pivot when the float/swimmer yaws.

Summary of a Seventh Preferred Aspect of the Invention

In a seven preferred aspect, this invention provides a WPV wherein the tether is connected to the float or to the swimmer or to both through elastic elements which can absorb snap loads created when the tether is converted from a slack state to a load-bearing state.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is illustrated in the accompanying drawings, which are diagrammatic in nature and not to scale, and in which

FIG. 1 is a diagrammatic illustration, not to scale, of a WPV incorporating the first preferred aspect of the invention;

FIGS. 2 and 3 are cross-sections through cables according to the second preferred aspect of the invention;

FIGS. 4 and 5 are perspective views of cables according to the second preferred aspect of the invention;

FIGS. 6 and 7 are cross-sectional and perspective views of a rotation coupling for use in the fourth preferred aspect of the invention;

FIG. 8 is a perspective view of a cable release mechanism for use in the fifth preferred aspect of the invention; and

FIGS. 9 and 10 are cross-sectional views of the mechanism of FIG. 8 in the closed and open positions.

DETAILED DESCRIPTION OF THE INVENTION

In the Summary of the Invention above, the Detailed Description of the Invention, the Examples, and the claims below, and the accompanying drawings, reference is made to particular features (including for example components, ingredients, elements, devices, apparatus, systems, groups, ranges, method steps, test results, etc.) of the invention. It is to be understood that the disclosure of the invention in this specification includes all possible combinations of such particular features. For example, where a particular feature is disclosed in the context of a particular aspect, a particular embodiment, a particular claim, or a particular Figure, that feature can also be used, to the extent appropriate, in the context of other particular aspects, embodiments, claims and Figures, and in the invention generally. The invention disclosed includes embodiments not specifically described herein and can for example make use of features which are not specifically described herein, but which provide functions which are the same, equivalent or similar to, features specifically disclosed herein.

The term “comprises” and grammatical equivalents thereof are used herein to mean that, in addition to the features specifically identified, other features are optionally present. For example, a composition or device “comprising” (or “which comprises”) components A, B and C can contain only components A, B and C, or can contain not only components A, B and C but also one or more other components. The term “consisting essentially of” and grammatical equivalents thereof is used herein to mean that, in addition to the features specifically identified, other features may be present which do not materially alter the claimed invention.

The term “at least” followed by a number is used herein to denote the start of a range beginning with that number (which may be a range having an upper limit or no upper limit, depending on the variable being defined). For example “at least 1” means 1 or more than 1, and “at least 80%” means 80% or more than 80%. The term “at most” followed by a number is used herein to denote the end of a range ending with that number (which may be a range having 1 or 0 as its lower limit, or a range having no lower limit, depending upon the variable being defined) For example, “at most 4” means 4 or less than 4, and “at most 40%” means 40% or less than 40%. When a range is given as “(a first number) to (a second number)” or “(a first number)−(a second number)”, this means a range whose lower limit is the first number and whose upper limit is the second number. For example, “from 8 to 20 carbon atoms” or “8-20 carbon atoms” means a range whose lower limit is 8 carbon atoms, and whose upper limit is 20 carbon atoms. The terms “plural”, “multiple”, “plurality” and “multiplicity” are used herein to denote two or more than two features.

Where reference is made herein to a method comprising two or more defined steps, the defined steps can be carried out in any order or simultaneously (except where the context excludes that possibility), and the method can optionally include one or more other steps which are carried out before any of the defined steps, between two of the defined steps, or after all the defined steps (except where the context excludes that possibility). Where reference is made herein to “first” and “second” features, this is generally done for identification purposes; unless the context requires otherwise, the first and second features can be the same or different, and reference to a first feature does not mean that a second feature is necessarily present (though it may be present).

Where reference is made herein to “a” or “an” feature, this includes the possibility that there are two or more such features (except where the context excludes that possibility). Where reference is made herein to two or more features, this includes the possibility that the two or more features are replaced by a lesser number or greater number of features providing the same function (except where the context excludes that possibility). The numbers given herein should be construed with the latitude appropriate to their context and expression; for example, each number is subject to variation which depends on the accuracy with which it can be measured by methods conventionally used by those skilled in the art.

This specification incorporates by reference all documents referred to herein and all documents filed concurrently with this specification or filed previously in connection with this application, including but not limited to such documents which are open to public inspection with this specification.

A. Detailed Description of the First Aspect of the Invention

In its first aspect, the invention provides a float which can be used for any purpose, including for example as a buoy (or part of a buoy) or as part of a WPV. The term “orientation” denotes the angular relationship between the body and the upper member. The term “configuration” denotes the dimensions (e.g., height and/or width) of the upper member, and includes the presence or absence of auxiliary members, e.g., sensors.

Referring now to the drawings, FIG. 1 shows a WPV incorporating the first aspect of the invention. The WPV is made up of a float 1, a tether or cable 2 and a swimmer 3. The float 1 comprises a body 11 and a pole 12 which passes through the body 11 and is secured to it by a pivot joint. The pole 12 thus provides an upper member 121 and a lower member 122. Phantom lines show the outline of the float 1 as it pitches as a result of wave motion. The pole 12, however, does not follow the pitching of the float 1. The swimmer 3 is shown directly below the float 1, with the tether vertical. In practice, the swimmer 3 will tend to be forward of the float 1, and if it is desired to keep the upper member 121 vertical, the bottom member may angle forward from the upper member 121 by an appropriate angle, for example about 5°.

The float 1 can optionally have one or more of the following characteristics, denoted A1 . . . A7:

-   -   A1. (a) When the float 1 is floating in still water, the upper         member 121 has a rest orientation relative to the water; and (b)         when the float 1 is floating in wave-bearing water, the         controlling means reduces movement of the upper member 121 away         from the orientation position.     -   A2. (a) The upper member 121 is secured to the body 11 so that         it can be rotated relative to the body, e.g., by means of a         pivot joint which allows pitch motion and/or roll motion, or by         a gimbal joint such as a ball and socket (a pivot joint which         allows only pitch motion may be adequate when the float 1 is         relatively long and narrow); and (b) the controlling means         comprises a lower member 122 which (i) is secured to the body         11, (ii) extends downwards from the body 11, (iii) is linked to         the upper member 121, and (iv) when the float 1 is in         wave-bearing water, causes rotation of the upper member 121         relative to the body 11 when the float 1 is in water and is         subject to wave motion.     -   A3. The lower member 122 can for example have one or more of the         following characteristics:         -   A3a It is secured to the upper member 121 so that, when the             float pitches, the lower member 122 reduces the movement of             the upper member 121 away from the rest orientation.             Alternatively or additionally, it is secured to the upper             member 121 so that, when the float rolls, the lower member             122 reduces the movement of the upper member 121 away from             the rest orientation; this feature is particularly             appropriate when the float has two or more hulls, e.g., is a             catamaran, in which case the upper member 121 will generally             be placed between the hulls.         -   A3b It has a weight and/or moment of inertia which is             substantially greater than the weight and/or moment of             inertia of the upper member 121. For this purpose, a weight             can optionally be secured to the lower member 122,             preferably at its lower end, either directly or through a             flexible cable. When the float 1 as part of a WPV and the             tether 2 is secured to the lower member 122, the desired             weight can be partly or completely supplied by the weight of             the tether 2 and the swimmer 3.         -   A3c It is secured to the upper member 121 so that the upper             and lower members 122 form a single body (a “pole”). In one             embodiment, the pole passes through a hinge socket in the             float body 11 when the float 1 is floating in water, and can             be pulled up through the hinge socket for storage when the             float 1 is not floating in water or for deployment. In             another embodiment, the pole can be secured to the float 1             at two or more different levels so that the height of the             upper member 121 can be increased, e.g., to place a sensor             at a desired high level (or decreased), and the length of             the lower member 122 can be correspondingly decreased (or             increased, e.g., to lower the swimmer 3 when the tether 2 is             attached to the lower member 122, as may be desirable when             the waves are large).         -   A3d when the float 1 is in still water, it lies in a             vertical plane which includes the longitudinal axis of the             body of the float 1 and/or is substantially vertical, or,             when the float 1 is used as the float 1 in a WPV, is             inclined to the vertical towards the forward end, for             example at an angle of up to 12°, e.g., 3-8°, e.g., about             5°, to the vertical.     -   A4. The upper member 121 can optionally have one or more of the         following characteristics:         -   A4a It has a height or other dimension which can be changed.             For example, the upper member 121 can be telescopic (i.e.,             comprise two or more units which slide relative to each             other and thus change a dimension of the upper member 121),             and/or can comprise two or more units which can fold and             unfold and thus change a dimension of the upper member 121.             The float 1 can include a motor to change a dimension of the             upper member 121. The float 1 can include one or more             sensors which activate actuators to change a dimension of             the upper member 121, for example sensors (which may be on             the upper member 121) which sense the height of the waves,             so that the height of the upper member 121 can be reduced as             the height of the waves increases, and vice versa. An             advantage of an upper member 121 whose height or other             dimension can be changed is that its wind resistance can be             minimized.         -   A4b It carries one or more accessories selected from the             group consisting of cameras, radio antenna, radio             transmitters, radio repeaters, meteorological sensors,             carbon dioxide sensors, and beacons, and sensors for sensing             heat and gas flux between the atmosphere and the ocean.         -   A4c It passes through or around the body 11 of the float 1.         -   A4d When the float 1 is in still water, it has an axis which             lies in a vertical plane including the longitudinal axis of             the float 1 and/or is substantially vertical.         -   A4f It comprises one or more flexible portions so that it             can bend in overload situations.     -   A5. It is not associated with a lower member 122 as described         above, for example is fixed to the body 11 of the float 1 so         that its orientation does not change when the float 1 is in         wave-bearing water, or makes use of a different mechanism to         control its orientation.     -   A6. The float 1 has a length of 2-30 feet, e.g., 5-15 feet, and         a width which is 0.1 to 0.6 times, e.g., 0.2 to 0.3 times, the         length of the float.     -   A7. The float 1 is the float 1 in a WPV as hereinbefore defined.         In such a WPV, the tether 2 can be connected to the lower member         122, preferably to the lowest point of the lower member 122, or         to the float body 11. The connection can for example be through         a universal joint.

Preferred embodiments of this aspect of the invention are particularly useful in supporting sensors and other equipment at a desirable and preferably relatively constant level above the water. For example, some embodiments of this aspect of the invention reduce (including in some cases, substantially eliminate) the swaying motion of an upper member 121 which is fixed to a float 1 in wave-bearing water. If desired, the upper member 121 can be maintained in a substantially vertical position. Such swaying motion distorts wind measurements and reduces the efficacy of radio communications. Many of the instruments which are conventionally mounted on data buoys and data collection water vehicles operate best at relatively high levels above the surface of the water.

The standard height for reporting wind speed is 10 m above water level, but in prior art practice wind speeds are often measured at lower levels and then corrected. When measuring wind speeds using a float 1 according to the present invention, the measurements are preferably taken at a level at least 1.5 m above the water, and can generally be taken at substantially higher levels; if desired, the wind speeds can be corrected to take account of information provided by sensors on the float 1 which observe the height of the waves.

For line of sight radio communications, the greater the height of the transmitter and receiver, the greater the possible range. Preferred embodiments of the present invention make it possible to create a radio communications repeater network comprising a plurality of antenna-bearing WPVs which are separated by a substantial distance, for example 10-20 miles. The number and separation of WPVs can be chosen so that there is redundancy, so that the absence of one or a small number of the WPVs does not prevent the network from operating.

Camera observations are best taken at a level above the waves and spray.

For the measurement of air/sea heat flux (which is important to climate models and meteorological models) sensors that measure temperature or carbon dioxide concentration are placed at various heights above and below the surface of the water. It has been found that carbon dioxide flux can be characterized by positioning sensors at suitable heights, e.g., about 2 m and about 4 m, above the water surface. In one embodiment of the floats of the present invention, the upper member 121 comprises carbon dioxide sensors placed at different heights, e.g., about 2 and about 4 m, above the water surface. The float 1 can also include a carbon dioxide sensor below the surface of the water. When the float 1 is part of a WPV, carbon dioxide sensors can also be placed on the swimmer 3 and/or on the tether 2 and/or on a towed array. The towed array can be a tow fish which has buoyancy controls which enable it to sweep up-and-down from the surface to a depth of 30-100 m (or even more).

The invention disclosed herein includes not only a WPV which has an upper member 121 as disclosed above and which is fitted with carbon dioxide sensors, but also any WPV which is fitted with carbon dioxide sensors as disclosed above.

The float 1 can include sensors (e.g., accelerometers or rate sensors such as rate-sensitive GPS) which cause equipment on the upper member 121 to operate only when the float 1 is at or close to a wave crest.

Preferred embodiments of this aspect of the invention make it practical to use upper members 121 having a height which is greater than is practical when using an upper member 121* which is fixed to the float 1. For example, the upper member 121* can optionally have a fixed height (or, if the upper member 121* has an adjustable height, a maximum height) which is at least 0.5 times the length of the float 1, e.g., at least 0.8 times the length of the float 1, e.g., 0.8-3 times the length of the float 1 or 1-2 times the length of float 1. Thus, the height can be at least 6 feet, or at least 10 feet, e.g., 6-15 feet, or even more when the height is adjustable, for example a height of 3-10 feet when fully collapsed, and a height of 10-30 feet when fully extended.

B. Detailed Description of the Second Preferred Aspect of the Invention

The cables of the second preferred aspect of the invention are useful in a wide variety of situations in which it is useful to reduce the drag on a cable 2 when the cable 2 moves relative to water or other liquid in which it is immersed. In one such use, the cable 2 is used as a tether 2 in a WPV.

The cable 2 can optionally have one or more of the following characteristics, denoted B1 . . . B17:

-   -   B1. It has a cross-section which has a chord length which is 0.8         to 1.5 inch.     -   B2. It has a greatest width which is at most 0.3 times the chord         length of the cross-section. B3. It has a cross-section which         includes a tapered trailing edge section.     -   B4. It has a relatively rounded leading edge and sharp trailing         edge such that the cross section is similar to a tear-drop or         airfoil shape.     -   B5. The jacket is composed of a polymeric composition e.g., a         composition which comprises an epoxy resin or a polyurethane.     -   B6. The jacket has been prepared by extruding or otherwise         molding a polymeric composition around the tensile member(s) and         the additional elongate member(s), preferably by a process which         does not result in residual stresses in the jacket, for example         by casting the composition around the elongate components, or         which includes a step, after the jacket has been formed around         the elongate components, in which any stresses in the jacket are         reduced (including removed entirely).     -   B7. The jacket comprises additives which inhibit marine growth         and other fouling.     -   B8. The additional elongate member comprises one or more of         insulated electrical conductors, optical fibers and acoustic         cables, e.g., an insulated ribbon cable 2.     -   B9. The cable 2 carries identification, e.g., visible markings,         which enable the cable 2 to be inspected to determine whether it         is twisted, for example by a camera on the float body 11.     -   B10. The cable 2 further comprises fins extending from the         insulating jacket at spaced-apart intervals; the fins can for         example be 1-5 in.² in area, and the distance between adjacent         fins can for example be 2-12 feet.     -   B11. The cable 2 further comprises a second elongate tensile         member which carries load when the cable 2 is under tension and         which passes through the leading edge portion of the cable 2.     -   B12. The elongate tensile member(s) is (are) surrounded by a         tube which enables the tensile member(s) to move independently         of the remainder of the cable 2, for example a tube composed of         a polymeric composition comprising a fluorinated polymer, e.g.,         polytetrafluoroethylene. When there is more than one tensile         member, there can be such a tube around each of the tensile         members, or a single tube around all the tensile members. This         expedient enables the tensile member(s) to stretch without         stretching the other elongate components, e.g., electrical         conductors. It also enables the remainder of the cable 2 to         rotate around the tensile member(s) and feather into a reduced         drag orientation.     -   B13. The cable 2 comprises a braided component which resists         twisting, e.g., a braided sleeve surrounding some or all of the         tensile member(s) and additional elongate member(s). The braided         component can for example be composed of a high-strength         polymeric material, e.g., Kevlar or another aramid polymer.     -   B14. The cable 2 comprises a water-blocking component to prevent         any water which penetrates the jacket from traveling along the         cable 2.     -   B15. The tensile member is composed of stainless steel or a         high-strength polymeric material, e.g., an aromatic polyester         such as VECTRAN, for example in the form of multiple strands         twisted together. In some cases it is desirable to stretch the         tensile member under an appropriate load before it is made up         into the cable 2, to ensure that it does not undergo substantial         stretching in when it is used as a tether 2. The tensile member         may have a diameter of, for example, 0.1 to 0.3 inch.     -   B16. The cable 2 is used as the tether 2 in a WPV, the cable 2         being aligned so that its leading edge portion is oriented         towards the front of the WPV, and being connected to the body of         the float 1 and to the swimmer 3 so that the loads are carried         by the tensile member.     -   B17. The cable 2 is used as the tether 2 in a WPV and is         attached to the float 1 and/or to the swimmer 3 by a swivel         joint that allows the tether 2 to rotate relative to the float 1         and/or swimmer 3.

FIG. 2 is a cross-section through a cable 2 according to the second preferred aspect of the invention, from the leading edge to the trailing edge 26. The cross section is to scale, and the chord length of the cross-section can for example be 0.8 to 1.5 inch. The cable 2 comprises a tensile member 21, a ribbon cable 22 which is surrounded by a braided polymeric sleeve 221, and a streamlined polymeric jacket 23. The tensile member 21 can for example be a 0.09375 inch diameter 316 stainless steel wire rope, 7×7 construction. The ribbon cable 22 can for example comprise a plurality, e.g., 14, 22 AWG tinned copper wires each surrounded by fluorinated ethylene propylene (FEP) installation. The braided sleeve 221 can for example be composed of KEVLAR strands. The polymeric jacket 21 can for example be composed of a marine grade polyurethane having a Shore A 80 Durometer.

FIG. 3 is a cross-section through another cable 2 according to the second preferred aspect of the invention. It is shown from the leading edge 25 to the trailing edge 26 The cross section is to scale, and the chord length of the cross-section can for example be 0.8 to 1.5 inch. The cable 2 comprises a tensile member 21, a plurality, e.g., 8, of conductors 22, each surrounded by a braided stainless steel sleeve, and a streamlined polymeric jacket 23. The tensile member 21 and jacket 23 can for example be as described for FIG. 2. Each of the conductors can for example be a 20 AWG tinned copper wire.

FIG. 4 is a perspective view of another cable 2 according to the second preferred aspect of the invention. The cable 2 comprises two tensile members 21, a ribbon cable 22, and a polymeric jacket 23. Particularly when the tensile member is liable to stretch significantly under load, for example when it is a synthetic fiber rope, e.g., composed of VECTRAN, preferably each of the tensile members is surrounded by a tube of a suitable polymeric material, e.g., polytetrafluoroethylene, so that it can stretch and rotate independently of the remainder of the cable 2.

FIG. 5 is a perspective view of another cable 2 according to the second preferred aspect of the invention. The cable 2 comprises two tensile members 21, two cables 22, each containing multiple individually insulated electrical conductors, a trailing edge member 24, a braided sleeve 221 which surrounds components 21, 22 and 24, and a polymeric jacket 23. The tensile members 21 can for example be as described above. Each of the cables 22 can for example comprise four individually insulated copper alloy conductors spiraled around a synthetic fiber rope, all surrounded by a further layer of insulation and/or a braided wire shield, e.g., of copper or stainless steel. The braided sleeve 221 can for example be composed of a metal or polymeric composition, e.g., Kevlar or nylon. The trailing edge member 24 can for example a metal or synthetic fiber rope; it does not carry load, but helps to maintain the structural integrity of the cable 2 during handling and use.

C. Detailed Description of the Third Preferred Aspect of the Invention

The third preferred aspect of the invention is concerned with WPVs which comprise means for determining whether the tether 2 is twisted. It is possible to design a WPV which, under most operating conditions, will not cause the tether 2 to become twisted. However, the tether 2 may become twisted during deployment, or in very flat calm seas, or in very violent seas. A twisted tether 2 creates undesirable drag. It is, therefore, desirable for the WPV to comprise means for determining whether the tether 2 is twisted. Such WPVs can optionally have one or more of the following characteristics.

-   -   C1. The tether 2 includes at least one identifier, e.g.,         markings which can be identified by suitable equipment (e.g.,         each side having a different color, or a stripe along one side         only), and the float 1 or the swimmer 3 or both comprise such         suitable equipment, e.g., a still or video camera mounted on the         float 1 or the swimmer 3, which can inspect the identifier to         determine whether or not the tether 2 is twisted, and         communicate the results of the inspection, e.g., via radio to an         observer.     -   C2. The means for determining whether the tether 2 is twisted         comprises at least two compasses which are placed at vertically         spaced-apart locations on the WPV. For example, one compass can         be placed on the float 1, another compass on the swimmer 3, and         at least one other compass somewhere along the tether 2         (preferably not at the midpoint of the tether 2). In another         example, only two compasses are used, one on the swimmer 3 and         the other on the float 1, and the compasses are monitored on an         ongoing basis to keep track of the total amount of rotation         relative to the Earth's magnetic field. Each compass reports a         rotation to a controller, and the controller compares the two to         determine if twisting has occurred. This system has the benefit         of using only two compasses and placing them in locations where         electronics may already be present.     -   C3. The float 1 and the swimmer 3 include equipment which         detects and reports relative rotation of the float 1 and the         swimmer 3.     -   C4. The WPV can deliberately induce one or more twists, see how         the speed is affected, and then continue with the number of         twists which optimizes the speed, which can be assumed to be         when the tether 2 is not twisted. If the WPV includes wave         characterization sensors, wind sensors, and water speed sensors         so that it can determine the expected speed under the observed         conditions, this procedure can be followed when the speed is         less than the expected speed.

D. Detailed Description of the Fourth Preferred Aspect of the Invention

The fourth preferred aspect of the invention is concerned with WPVs which comprise means for untwisting the tether 2 when the tether 2 has become twisted. Such WPVs can optionally have one or more of the following characteristics.

-   -   D1. The means for untwisting the tether 2 comprises a         motor-driven thruster on the float 1 which can spin the float 1         around and untwist the tether 2.     -   D2. The means for untwisting the tether 2 comprises a         retractable fin at the front of the float 1. The fin is normally         retracted but can be deployed to create drag at the front of the         float 1; this causes the float 1 to rotate through 180′; the fin         is then retracted, and a fin at the rear of the float 1 causes         the float 1 to continue rotating through a further 180°.     -   D3. The means for untwisting the tether 2 comprises a         motor-driven rotation coupling at the junction of the tether 2         and the float 1, or at the junction of the tether 2 and the         swimmer 3, or at an intermediate point of the tether 2. If the         tether 2 includes electrical wires, the rotation coupling         preferably includes a break in the wires, for example as may be         achieved by a sliding contact slip ring or a by device that does         not maintain electrical contact throughout the rotation but does         so at one point of each revolution. The motor driven rotation         coupling may comprise a geared electric motor that is either in         line or proximal to the rotation joint and is capable of         rotating the cable 2 relative to the float 1 or swimmer 3. When         the motor is not driven it may include a brake or other means to         prevent the rotation joint from moving, in order to reduce wear         on sliding electrical contacts.

FIG. 6 is a cross-sectional view, and FIG. 7 is a perspective view of a driven rotation coupling which can be used in the fourth preferred aspect of the invention. The Figures show a tether 2 which is terminated in a driven rotation coupling 6. The electrical conductors in the tether 2 are connected to exiting electrical wires 100 through solder joints in electrical connection area 101 which is filled with potting compound (not shown) and a sliding contact slip ring 102. The tensile member in the tether 2 is terminated at location 103. The coupling comprises a housing 61 and a gear motor 62 whose output is fixed to the housing 61 and whose body is fixed to a center post. The coupling comprises an output hollow shaft 63, a load carrying bearing 64, a plastic bushing and primary wiper 65, a primary seal 66 and a secondary seal 67.

E. Detailed Description of the Fifth Preferred Aspect of the Invention

The fifth preferred aspect of the invention is concerned with WPVs which comprise a pressure-sensitive connection which is triggered by excessive water pressure. Such WPVs can optionally have one or more of the following characteristics.

-   -   E1. The pressure sensitive connection comprises a piston with a         radial seal inside a cylinder and encloses an air chamber. Air         pressure inside the chamber and a coil spring urge the piston to         extend. In the extended position the piston prevents a latch or         other mechanical element from allowing the cable 2 to release.         Water pressure urges the piston to retract. In the retracted         position, the piston allows the latch or other mechanical         element to release.     -   E2. The pressure-sensitive connection is at the junction of the         float 1 and the tether 2.     -   E3. The pressure-sensitive connection comprises an eye in the         tensile member of the tether 2, a pin which passes through the         eye and which is withdrawn from the eye by the release of a         spring.     -   E4. The pressure-sensitive connection is triggered when it is at         a depth of 30 feet or more, for example at a depth of 50 feet or         more, or at a selected depth which is between 30 feet and 90         feet.

FIGS. 8-10 illustrate a pressure-sensitive connection for use in the fifth preferred aspect of the invention. The pressure-sensitive connection 7 is mounted on a baseplate 8 which is secured to the float 1. The connection comprises a pressure activated cylinder 71, a latch bar 72 and a hinge pin 73. The tensile member 21 of the tether 2 is terminated with an eye and a pin. The latch bar 72 supports both the eye and the pin, and allows both to pull free when the pressure piston collapses the air chamber.

F. Detailed Description of the Sixth Preferred Aspect of the Invention

The sixth preferred aspect of the invention is concerned with WPVs in which the tether 2 is secured to the float 1 and/or to the swimmer 3 through a two-axis universal joint which pivots when the float/swimmer 3 pitches or rolls but does not pivot when the float/swimmer yaws. This guides the tether 2 to remain aligned with the float 1 and thus reduces the tendency of the tether 2 to twist. The universal joints may comprise two hinges at right angles to each other, with the tensile loads from the tether 2 being transmitted through the hinges to the float 1 or swimmer 3. Any electrical components of the tether 2 are routed around or through the universal joint so that they do not see tensile loads and bend in a controlled manner consistent with their bending ability and fatigue strength.

G. Detailed Description of the Seventh Preferred Aspect of the Invention

The seventh preferred aspect of the invention is concerned with WPVs in which the tether 2 is connected to the float 1, or to the swimmer 3, or to both, through elastic elements which can absorb snap loads created when the tether 2 is converted from a slack state to a load-bearing state. 

What is claimed is:
 1. An apparatus which will float in water comprising a float which includes: (1) a body, (2) an upper member which is secured to the body and extends upwards from the body, and (3) means for controlling at least one of (a) an orientation of the upper member relative to the body and (b) a configuration of the upper member; wherein: when the float is floating in still water, the upper member has a rest orientation relative to the water; when the float is floating in wave-bearing water, said means reduces movement of the upper member away from the rest orientation; the upper member is rotationally secured to the body; said means comprises a lower member which (i) is secured to the body, (ii) extends downwards from the body, (iii) is linked to the upper member, and (iv) when the float is in wave-bearing water, causes rotation of the upper member relative to the body when the float is in water and is subject to wave motion.
 2. The apparatus according claim 1, wherein the upper member has a height which can be changed.
 3. An apparatus which will float in water comprising a float which includes: (1) a body, (2) an upper member which is secured to the body and extends upwards from the body, and (3) means for controlling at least one of (a) an orientation of the upper member relative to the body and (b) a configuration of the upper member, wherein the upper member is telescopic, or can fold and unfold.
 4. An apparatus which will float in water comprising a float which includes: (1) a body, (2) an upper member which is secured to the body and extends upwards from the body, and (3) means for controlling at least one of (a) an orientation of the upper member relative to the body and (b) a configuration of the upper member; wherein the upper member carries one or more accessories selected from the group consisting of cameras, radio antenna, radio transmitters, radio repeaters, meteorological sensors, beacons, and sensors for sensing heat and gas flux between the atmosphere and the ocean.
 5. The apparatus of claim 1, wherein is the float is coupled to a swimmer via a tether in a wave powered vehicle (WPV).
 6. An apparatus which will float in water comprising a float which includes: (1) a body, (2) an upper member which is secured to the body and extends upwards from the body, and (3) means for controlling at least one of (a) an orientation of the upper member relative to the body and (b) an configuration of the upper member; and a carbon dioxide sensor placed at different heights above a level of the water.
 7. An apparatus which will float in water comprising a float which includes: (1) a body, (2) an upper member which is secured to the body and extends upwards from the body, and (3) means for controlling at least one of (a) an orientation of the upper member relative to the body and (b) an configuration of the upper member; wherein the float is coupled to a swimmer via a tether in a wave powered vehicle (WPV) and the tether comprises a cable configured to couple the a float to the swimmer in a wave-powered vehicle (WPV), wherein the cable: (a) has a cross-section which (i) has a chord length along a longitudinal axis, and (ii) comprises a leading edge portion and a trailing edge portion spaced along a direction parallel to the longitudinal axis and aligned so that the leading edge portion is directed towards a front of the float, wherein a width of the cross-section extends in a direction parallel to a transverse axis, (b) comprises: (1) an elongate tensile member that carries load when the cable is under tension, (2) at least one additional elongate member that does not carry load when the cable is under tension, (3) a jacket that provides an outer surface of the cable, (4) a joint at or near an upper end of the cable that is configured for connecting the cable to the float in such a manner that the joint pivots relative to the cable about the transverse axis so that the cable is not forced to flex about the transverse axis; and (c) is configured for tethering the float to the swimmer in such a manner that when the WPV is in wave-bearing water, the swimmer interacts with the water to generate forces that tend to move the float horizontally.
 8. The apparatus of claim 7, wherein the leading edge portion includes a greatest width of the cross-section.
 9. The apparatus of claim 8, wherein the greatest width of the cross-section is at most 0.5 times the chord length of the cross-section.
 10. The apparatus of claim 9, wherein: the tensile member is part of the leading edge portion; the cross-section has a chord length which is 0.8 to 1.5 inch and a greatest width which is at most 0.5 times the chord length; and the trailing edge portion is tapered.
 11. The apparatus of claim 7, wherein the joint also pivots about the longitudinal axis.
 12. The apparatus of claim 7, wherein the joint does not pivot about an axis that is perpendicular to the transverse axis and the longitudinal axis.
 13. The apparatus of claim 7, wherein the joint also pivots about a longitudinal axis but does not pivot about an axis that is perpendicular to the transverse axis and the longitudinal axis.
 14. The apparatus of claim 7, further comprising an additional joint at a lower end of the cable for connecting the cable to a swimmer wherein the additional joint allows the swimmer and cable to pivot relative to each other about an axis parallel to the transverse axis so that the cable is not forced to flex about an axis parallel to the transverse axis.
 15. An apparatus which will float in water comprising a float which includes: (1) a body, (2) an upper member which is secured to the body and extends upwards from the body, and (3) means for controlling at least one of (a) an orientation of the upper member relative to the body and (b) a configuration of the upper member; a tether comprising a cable configured to couple the a float to a swimmer in a wave-powered vehicle (WPV), wherein the cable: has a rounded leading edge and trailing edge; comprises: an elongate tensile member that carries load when the cable is under tension, a jacket that provides an outer surface of the cable, and a joint at or near an upper end of the cable that is configured for connecting the cable to the float in such a manner that the joint pivots relative to the cable about a transverse axis so that the cable is not forced to flex about the transverse axis; and is configured for tethering the float to the swimmer in such a manner that when the WPV is in wave-bearing water, the swimmer interacts with the water to generate forces that tend to move the float horizontally.
 16. The apparatus of claim 15, wherein the cable has a cross-section that extends farther along a longitudinal axis than along a transverse axis.
 17. The cable of claim 16, wherein the joint also pivots about the longitudinal axis.
 18. The cable of claim 16, wherein the joint does not pivot about an axis that is perpendicular to the transverse axis and the longitudinal axis.
 19. The cable of claim 16, wherein the joint also pivots about a longitudinal axis but does not pivot about an axis that is perpendicular to the transverse axis and the longitudinal axis.
 20. The cable of claim 16, further comprising an additional joint at a lower end of the cable for connecting the cable to a swimmer wherein the additional joint allows. 